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We re-simulate their plant, trajectory and gains with explicit Euler integration at \\Delta t = 1 ms and 0.1 ms, and implement both observers on independent hardware. We got three findings: i) the controller gains k_p=1600, k_v=1100 place the tracking-error poles at the \"pathological\" locations -1.455 and -1098.5 (\\zeta = 13.7); the super-twisting scheme lands on the resulting nominal resp"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2608.02000","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-03T09:59:48Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"aef800dda1c26dc5f4bf32a1f8e1c5487589683e9fe8cf72a5ecb60e781eae1d","abstract_canon_sha256":"836fe212351601f40a00c41915f055ef46e33c8c78eab65c0e962c916bc829eb"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-04T02:10:28.045185Z","signature_b64":"LqVZsORR11C1L/JrN7bMySoG32T2ygDPUYjmTqpYBdHNyY+u3W5e9RPEOz1rx4Q7a5v1ivAAw2iyf3DUJyS3Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ab615110f2ee3c92aa83064726086629206f8f68a7aa02bd98ae92e45a4a4531","last_reissued_at":"2026-08-04T02:10:28.042736Z","signature_status":"signed_v1","first_computed_at":"2026-08-04T02:10:28.042736Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"A.J. 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We got three findings: i) the controller gains k_p=1600, k_v=1100 place the tracking-error poles at the \"pathological\" locations -1.455 and -1098.5 (\\zeta = 13.7); the super-twisting scheme lands on the resulting nominal resp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.02000","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.02000/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2608.02000","created_at":"2026-08-04T02:10:28.045052+00:00"},{"alias_kind":"arxiv_version","alias_value":"2608.02000v1","created_at":"2026-08-04T02:10:28.045052+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.02000","created_at":"2026-08-04T02:10:28.045052+00:00"},{"alias_kind":"pith_short_12","alias_value":"VNQVCEHS5Y6J","created_at":"2026-08-04T02:10:28.045052+00:00"},{"alias_kind":"pith_short_16","alias_value":"VNQVCEHS5Y6JFKUD","created_at":"2026-08-04T02:10:28.045052+00:00"},{"alias_kind":"pith_short_8","alias_value":"VNQVCEHS","created_at":"2026-08-04T02:10:28.045052+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE","json":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE.json","graph_json":"https://pith.science/api/pith-number/VNQVCEHS5Y6JFKUDAZDSMCDGFE/graph.json","events_json":"https://pith.science/api/pith-number/VNQVCEHS5Y6JFKUDAZDSMCDGFE/events.json","paper":"https://pith.science/paper/VNQVCEHS"},"agent_actions":{"view_html":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE","download_json":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE.json","view_paper":"https://pith.science/paper/VNQVCEHS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2608.02000&json=true","fetch_graph":"https://pith.science/api/pith-number/VNQVCEHS5Y6JFKUDAZDSMCDGFE/graph.json","fetch_events":"https://pith.science/api/pith-number/VNQVCEHS5Y6JFKUDAZDSMCDGFE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE/action/storage_attestation","attest_author":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE/action/author_attestation","sign_citation":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE/action/citation_signature","submit_replication":"https://pith.science/pith/VNQVCEHS5Y6JFKUDAZDSMCDGFE/action/replication_record"}},"created_at":"2026-08-04T02:10:28.045052+00:00","updated_at":"2026-08-04T02:10:28.045052+00:00"}